The procedural drama airs new episodes on Tuesdays.

Collider: Had either of you doneLittle Shop of Horrorsbefore, at any point, in any production?

JESSE L. MARTIN: No, never.

Image from NImesh Niyomal Perera of Jesse L. Martin in front of Karen David for The Irrational Season 2

Its only right at the end when he comes out and bows.

I was like, What a cool part to play.

So, I went for it.

The cast of The Irrational looking serious at a party.

Image via NBC

And obviously, to be singing alongside Jesse was such a treat.

Everyone has been wanting this for a very long time.

We were just so thrilled that it was possible we could do this.

jesse-l-martin-the-irrational-season-2-episode-10

Was it alwaysLittle Shop of Horrors, or did you have a list to choose from?

MARTIN: There was a list, butthe bigger conversation was whether I would sing at all.

So, I was a little bit against it for a really long time.

Jesse L. Martin as Alec and Karen David as Rose embracing while she looks up at him in The Irrational Season 2

Image via NBC

DAVID: I just love how organically this all came to be.

It really was these conversations of, What can we do to get Jesse to agree to sing?

I selfishly, along with everyone, wanted this so much.

jesse-l-martin-the-irrational

MARTIN: Shes a theater baby too.

DAVID: Jesse added the spin with the community theater.

MARTIN: That came out of a conversation that we had, off to the side, long before.

Jesse L. Martin as Alec with Karen David as Rose smiling up at him in Season 2 of The Irrational

Image via NBC

Now, we didnt think it was going to be a musical.

We were talking about Shakespeare and things we could get the rights to do.

That evolved into a musical.

The Irrational TV series Poster

DAVID: We manifested this.

The next episode airs tomorrow on NBC.

And its full-on production.

Cast Placeholder Image

Everybody else in it is really good and really talented too.

MARTIN: That was the coolest part about it.

And then,we had these incredible puppets that I think we rented from a house in Los Angeles.

These puppets were treated very, very carefully, like they were babies.

DAVID: Its joyous.

As much as you loved watching it, we had so much fun performing it.

It was so thrilling.

I cant wait for everyone to see it because we did have the time of our lives.

Was it always a given that you guys would find a way to sing together on stage?

MARTIN: No, it was never a given.

I dont know if Karen had any affinity for playing Audrey.

DAVID: I was in heaven.

MARTIN: She killed it.

I couldnt believe it.

Im used to Karen speaking the way Karen speaks, with a lovely English accent.

DAVID: I love you.

I was like, Oh, my God, Im surrounded by professional New Yorkers.

So, getting the accent and all of that right, I was quaking.

Karen, how much fun was it to put on the wig and the costume and get out there?

DAVID: What I loved was that Rose just took everything a little bit too seriously.

She was fully committed.

I just love that we see this side of her.

One of my favorite scenes was with Jesse, when Rose and Alec are having this pow-wow session.

We couldnt stop laughing throughout that whole scene.

He was so funny that it was really hard for me to keep a straight face.

I was like, Oh, wow, shes real serious about this.

That was coming from an angle that I do not know at all.

DAVID: It was so much fun.

I forgot where the cameras were.

Alec and Rose share a lot in common.

What do you guys most enjoy about where Alec and Rose are at in their relationship now?

MARTIN: Its amazing that we started our relationship as a work/dating relationship.

MARTIN: Which arent even 9-to-5.

DAVID: I know, its 24 hours a day.

And you see these wonderful scenes that are dotted in and out, throughout solving a case together.

You see the humanity and the normality of two people navigating through a new relationship.

Where does that take them?

Of course, theyre going to hate Rose.

Theyre going to kill Rose because Alec is such a beloved character by many.

Rose continually keeps me on my toes and surprises me constantly.

Im like, What else dont I know about Rose?

Alec must really, really love her.

MARTIN: Its not just the essence of drama.

She gives me something to get hyped about every single time, whether I like it or not.

This episode is left on this big reveal that Rose has a husband that Alec wasnt aware of.

DAVID: Minor detail.

How Will That Shocking Reveal Change Things for Alec and Rose in ‘The Irrational’ Finale?

“Who does that?”

What effect will that have on them?

MARTIN: Obviously,Alec is not thrilled to find out that she has a husband.

In true fashion of how we work, we end up having to work with her husband.

Who wants to do that?

DAVID: Alec does that.

She knows that she cant get away with murder, pardon the pun, with Alec.

He keeps her on her toes in so many wonderful and delightful ways, and annoyingly delightful ways too.

Thats why she makes this big step towards her future with Alec and her career.

Thats something Rose has never had, and shes found that with someone like Alec and his community.

The Irrationalairs on NBC and is available to stream on Peacock.

Check out this behind-the-scenes look: